CN106054806B - A kind of plane parallel mechanism end tracking control system and method based on two-dimensional encoded device - Google Patents
A kind of plane parallel mechanism end tracking control system and method based on two-dimensional encoded device Download PDFInfo
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- CN106054806B CN106054806B CN201610557165.8A CN201610557165A CN106054806B CN 106054806 B CN106054806 B CN 106054806B CN 201610557165 A CN201610557165 A CN 201610557165A CN 106054806 B CN106054806 B CN 106054806B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31068—Relative positioning of assembled parts with small geometric deviations
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Abstract
The present invention provides a kind of plane parallel mechanism end tracking control system and method based on two-dimensional encoded device, which includes the plane parallel mechanism being installed on silent flatform, two-dimensional encoded device measuring device, mechanism zero resetting device and control device；The control device is made of control module for servo motor, triggering optoelectronic switch module, parallel institution positioning control module and parallel institution Trajectory Tracking Control module etc.；Whole system makes plane parallel mechanism end be located at zero by mechanism zero resetting device first, then the real-time pose of plane parallel mechanism end is measured by two-dimensional encoded device, it is then input to control device, and drives plane parallel mechanism to make end by scheduled path implementation precision positioning by control device.Control system of the present invention only needs simply to resolve the pose that can obtain moving platform end with the data processing module involved by method, real-time is good, the end orbit tracking accuracy for also improving plane parallel mechanism simultaneously realizes that sub-micron rank positioning accuracy provides condition for plane parallel mechanism.
Description
Technical field
The present invention relates to the measurement of plane parallel mechanism terminal position and tracing controls, and in particular to one kind is based on two-dimensional encoded
The plane parallel mechanism end tracking control system and method for device.
Background technology
Parallel institution in the prior art has many advantages, such as that the rigidity of structure is big, bearing capacity is strong, positioning accuracy is high.Especially
The macro-micro dual parallel connection platform rapidly developed in recent years, the precision positioning technology being related in precision manufactureing and precise and tiny operation are differentiated
Rate, positioning accuracy and repetitive positioning accuracy can reach sub-micron to nanometer, be widely used in micro-manipulating robot, biology doctor
The fields such as, Precision Machining.At present for most of parallel institution, in order to meet wanting for quick response and high position precision
It asks, general execution element uses encoder, such servo-driver to watch using exchange or DC servo motor, feedback element
Take the closed loop that motor forms a part with encoder.When work, the pulse coder on servo motor shaft will measure
Stream compression be changed to the Displacement Feedback of digit pulse to servo-driver, servo-driver is by corresponding control algolithm
Servo motor provides control voltage, is rotated with the direction that driving motor reduces to error.The shortcomings that this semi-closed loop control system
It is：Feedback signal derives from the encoder after servo motor, can only ensure that motor input is accurate；And work as in practical application
In, the various uncertain factors such as mismachining tolerance, rigging error, joint space, friction, flexible deformation are widely present, this makes
Although motor input is accurate, after being transmitted to moving platform end, above-mentioned error can be introduced, making platform, there are position and attitude error, positioning
Precision is not high.
To solve the above-mentioned problems, full closed loop control method may be used, i.e., one high-precision is installed in moving platform end
Position feedback elements, obtain after transmission chain moving platform end attained pose.In current existing two schemes, respectively
Using industrial camera and laser displacement sensor as position feedback elements；For using industrial camera, measurement accuracy is not high,
And image processing process is cumbersome, time-consuming, is unfavorable for the real-Time Tracking Control of parallel robot；For using laser displacement to sense
Device, then the pose of moving platform end can be calculated by least needing three laser displacement sensors, this is to laser displacement sensor
Installation accuracy it is more demanding, solution process is quite cumbersome, and gained pose accuracy is not high.
Invention content
For the current deficiency for obtaining and occurring in the pose method of plane parallel mechanism end, the present invention provides one kind to be based on
The plane parallel mechanism end tracking control system and method for two-dimensional encoded device.The present invention uses two-dimensional encoded device anti-as position
Element is presented, measures and feeds back moving platform end pose, realize the full closed loop control of plane parallel mechanism, while improving plane
The end orbit tracking accuracy of parallel institution is realized that sub-micron rank positioning accuracy provides condition for plane parallel mechanism, is solved
It has determined the above problem of the existing technology.
The technical solution adopted in the present invention is a kind of plane parallel mechanism end tracing control based on two-dimensional encoded device
System, including the plane parallel mechanism, two-dimensional encoded device measuring device, mechanism zero resetting device and the control that are installed on silent flatform
Device；
The two-dimensional encoded device measuring device, including a reading heads of two-dimensional encoded device and b reading heads, two-dimensional grating plate
Two-dimensional grating plate, connecting cable in fixture；Wherein, a reading heads of two-dimensional encoded device and b reading heads are fixed on planar parallel
On the supporting rack of structure moving platform reverse side connection, it is dynamic that the two-dimensional grating board clamp equipped with two-dimensional grating plate is fixed on plane parallel mechanism
On silent flatform below platform；Plane where the measuring center of the two is parallel to silent flatform, the survey of a reading heads and b reading heads
Amount center and moving platform center positioning hole O '1, point of conllinear and a reading heads and b reading heads equidistantly is projected on silent flatform
Cloth is in moving platform center both sides；
The mechanism zero resetting device, including be set on silent flatform three optoelectronic switches, on servo motor drive rod
Three anti-dazzling screens and laser tracker；
The control device, by control module for servo motor, triggering optoelectronic switch module, parallel institution location control mould
The compositions such as block and parallel institution Trajectory Tracking Control module；
Whole system makes plane parallel mechanism end be located at zero by mechanism zero resetting device first, is then compiled by two dimension
Code device measures the real-time pose of plane parallel mechanism end, is then input to control device, and drive plane by control device
Parallel institution makes end by scheduled path implementation precision positioning.
A kind of plane parallel mechanism end tracking control system based on two-dimensional encoded device of the present invention, feature also exist
In：
The plane parallel mechanism being installed on silent flatform is any one in plane parallel mechanism, such as plane 3-RRR,
Or be plane 4-RRR, or be plane 3-PRR etc..
The present invention is used for a kind of control method of the plane parallel mechanism tracking control system based on two-dimensional encoded device, the control
Method processed includes the following steps：
One, plane parallel mechanism back to zero step
For plane parallel mechanism, the precision of initial pose directly affects the positioning accuracy of plane parallel mechanism；For
It realizes and the precision of plane parallel mechanism is controlled, first have to allow plane parallel mechanism accurate back to zero position：
The first step：Coordinate system 1 is established by tri- location holes of a, b, c on two-dimensional grating board clamp：It is to sit with b location holes
Origin is marked, the straight line where a location holes and b location holes is x-axis；Silent flatform coordinate system and coordinate system 1 there are a translation relation,
Coordinate system 1 need to only be can be obtained along y-axis translation certain distance, then sets silent flatform coordinate system to work coordinate system；
Second step：Two location hole O ' on plane parallel mechanism moving platform are measured respectively1With O '2Position, and measure
O′1With O '2Coordinate be respectively (x '1,y′1) and (x '2,y′2)；This two coordinate is input to control device, passes through control device
Adjustment moving platform end is gone to, then measures O ' again1With O '2Coordinate；It adjusts repeatedly, until O '1Coordinate be (0,0),
And O '2Coordinate be (0, y3)；The numerical value of motor encoder is read by computer, the encoder that three servo motors are arranged is read
Number is respectively a1,a2And a3；
Third walks：By the triggering optoelectronic switch module in control device, the anti-dazzling screen on each drive rod is made to touch just
It sends out optoelectronic switch corresponding, the numerical value of motor encoder at this time is read by computer, the encoder of three servo motors is set
Reading is respectively a1′,a2' and a3′；
Through the above steps, motor encoder reading and motor when triggering optoelectronic switch when plane parallel mechanism is in zero-bit
The difference of encoder count is ai-ai', wherein i=1,2,3；Therefore the process of plane parallel mechanism back to zero position is：Pass through control device
In triggering optoelectronic switch module, so that the anti-dazzling screen on each drive rod is triggered corresponding optoelectronic switch just；Then pass through control
Control module for servo motor driving motor in device processed makes the encoder count of motor i increase (ai-ai'), plane is simultaneously at this time
Online structure is just in zero-bit；
Two, plane parallel mechanism tracking measurement feedback control step
The first step：After plane parallel mechanism back to zero, the photoelectric encoder of two-dimensional encoded device and servo motor is read
Equal zero setting；
Second step：The a reading heads and b reading heads of two-dimensional encoded device are sampled every the set time, and coordinate signal passes through
After the subdivision interface subdivision of two-dimensional encoded device, then computer fed back to by the encoder feedback signaling interface of motion controller, counted
Calculation machine runs corresponding data processing module, obtains moving platform end pose；Wherein data processing module is as follows：
If the data coordinates that a reading heads of two-dimensional encoded device are fed back are (xr,yr), the b reading heads of two-dimensional encoded device are anti-
It is (x to be fed back to the data coordinates comel,yl)；Due to ensure that the coordinate system and silent flatform coordinate system of two-dimensional grating plate when installation
It is identical, it is now assumed that the physical location O of moving platformreal, thenThe practical attitude angle of moving platform end
θ is：
Third walks：Physical location and desired locations are made into difference and generate deviation signal, deviation signal by controlling calculation accordingly
Method obtains control signal, and control signal is transferred to servo-driver by amplidyne generator interface, and servo motor receives servo
After the drive signal of motor driver transmission, servo motor band drive rod rotates, to make moving platform end movement to desired position
Appearance.
The present invention is based on the plane parallel mechanism end tracking control system and method for two-dimensional encoded device, use is two-dimensional encoded
Device measures and feeds back moving platform end pose as position feedback elements, realize the full closed loop control of plane parallel mechanism, right
The positioning accuracy and tracking accuracy for improving plane parallel mechanism have remarkable effect；The control device only need to be resolved simply with method
The pose of moving platform end can be obtained, real-time is good, and measurement accuracy is up to 2 μm, and sub-micro is realized for plane parallel mechanism
The other positioning accuracy of meter level provides condition.
Description of the drawings
Fig. 1-Fig. 4 is the plane parallel mechanism end tracking control system structural representation the present invention is based on two-dimensional encoded device
Figure；
Fig. 5 is the schematic diagram of the plane parallel mechanism end tracking control system the present invention is based on two-dimensional encoded device；
Fig. 6 is pose solution nomogram in moving platform end of the present invention.
In figure, 1. servo motors, 2. drive rods, 3. location hole O '2, 4. center positioning hole O '1, 5. moving platforms, 6.a readings
Head, 7. supporting racks, 8. silent flatforms, 9. anti-dazzling screens, 10. optoelectronic switches, 11.a location holes, 12.b location holes, 13.c location holes,
14. two-dimensional grating board clamp, 15. two-dimensional grating plates, 16.b reading heads, 17. follower levers.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of plane parallel mechanism end tracking control system based on two-dimensional encoded device, as shown in Figs. 1-5, including installation
In plane parallel mechanism, two-dimensional encoded device measuring device, mechanism zero resetting device and control device on silent flatform.
The two-dimensional encoded device measuring device of the present invention, including a reading heads 6 of two-dimensional encoded device and b reading heads 16, two-dimentional light
Two-dimensional grating plate 15, connecting cable in screen fixture 14；Wherein, a reading heads 6 of two-dimensional encoded device and b reading heads 16 are fixed
On the supporting rack 7 of 5 reverse side of plane parallel mechanism moving platform connection, the two-dimensional grating board clamp 14 equipped with two-dimensional grating plate 15 is solid
It is scheduled on the silent flatform 8 of 5 lower section of plane parallel mechanism moving platform；Plane where the measuring center of the two is parallel to silent flatform 8,
The 5 center positioning hole O ' of measuring center and moving platform of a reading heads 6 and b reading heads 1614, projection on silent flatform it is conllinear and
A reading heads 6 and b reading heads 16 it is equidistant be distributed in moving platform center both sides, as shown in Figure 6.
The mechanism zero resetting device of the present invention, including three optoelectronic switches 10, the servo motor 1 that are set on silent flatform 8 drive
Three anti-dazzling screens 9 in lever 2 and laser tracker；
The control device is positioned by control module for servo motor, triggering optoelectronic switch module, the parallel institution present invention
The compositions such as control module and parallel institution Trajectory Tracking Control module；
Whole system makes plane parallel mechanism end be located at zero by mechanism zero resetting device first, is then compiled by two dimension
Code device measures the real-time pose of plane parallel mechanism end, is then input to control device, and drive plane by control device
Parallel institution makes end by scheduled path implementation precision positioning.
It is any one in plane parallel mechanism that the present invention, which is installed on the plane parallel mechanism on silent flatform, such as plane 3-
RRR, or be plane 4-RRR, or be plane 3-PRR etc..
The present invention is used for a kind of control method of the plane parallel mechanism tracking control system based on two-dimensional encoded device, the control
Method processed includes the following steps：
One, plane parallel mechanism back to zero step
For plane parallel mechanism, the precision of initial pose directly affects the positioning accuracy of plane parallel mechanism；For
It realizes and the precision of plane parallel mechanism is controlled, first have to allow plane parallel mechanism accurate back to zero position：
The first step：By tri- location holes of a, b, c 11,12 and 13 on two-dimensional grating board clamp 14, coordinate system 1 is established：
It is coordinate origin with b location holes 12, the straight line where a location holes 11 and b location holes 12 is x-axis；Silent flatform coordinate system and coordinate
It is 1 there are a translation relation, coordinate system 1 need to be only can be obtained along y-axis translation certain distance, then by silent flatform coordinate system
It is set as work coordinate system；
Second step：The location hole O ' on plane parallel mechanism moving platform 5 is measured respectively14 and location hole O '23 meta position
It sets, and measures location hole O '14 and location hole O '23 coordinate is respectively (x '1,y′1) and (x '2,y′2)；The two are positioned
Hole coordinate is input to control device, and adjustment moving platform end is gone to by control device, then measurement and positioning hole O ' again14 with it is fixed
Position hole O '23 coordinate；It adjusts repeatedly, until location hole O '14 coordinate is (0,0) and location hole O '23 coordinate is
(0,y3)；The numerical value of motor encoder is read by computer, the encoder count of three servo motors of setting is respectively a1,a2
And a3；
Third walks：By the triggering optoelectronic switch module in control device, keep the anti-dazzling screen 9 on each drive rod 2 lucky
Corresponding optoelectronic switch 10 is triggered, the numerical value of motor encoder at this time is read by computer, the volume of three servo motors is set
Code device reading is respectively a1′,a2' and a3′。
Through the above steps, motor encoder reading and motor when triggering optoelectronic switch when plane parallel mechanism is in zero-bit
The difference of encoder count is ai-ai', wherein i=1,2,3；Therefore the process of plane parallel mechanism back to zero position is：Pass through control device
In triggering optoelectronic switch module, so that the anti-dazzling screen 9 on each drive rod 17 is triggered corresponding optoelectronic switch 10 just；Then lead to
The control module for servo motor driving servo motor 1 in control device is crossed, the encoder count of servo motor i is made to increase (ai-
ai'), plane parallel mechanism is just in zero-bit at this time；
Two, plane parallel mechanism tracking measurement feedback control step
The first step：After plane parallel mechanism back to zero, the photoelectric encoder of two-dimensional encoded device and servo motor 1 is read
Equal zero setting；
Second step：The a reading heads 6 and b reading heads 16 of two-dimensional encoded device are sampled every the set time, coordinate signal warp
After crossing the subdivision interface subdivision of two-dimensional encoded device, then computer fed back to by the encoder feedback signaling interface of motion controller,
Computer runs corresponding data processing module, obtains moving platform end pose；Wherein data processing module is as follows：
If the data coordinates that a reading heads 6 of two-dimensional encoded device are fed back are (xr,yr), the b reading heads of two-dimensional encoded device
16 data coordinates fed back are (xl,yl)；Due to ensure that the coordinate system of two-dimensional grating plate is sat with silent flatform when installation
Mark system is identical, it is now assumed that the physical location O of moving platformreal, thenThe practical appearance of moving platform end
State angle θ is：
Third walks：Physical location and desired locations are made into difference and generate deviation signal, deviation signal by controlling calculation accordingly
Method obtains control signal, and control signal is transferred to servo-driver by amplidyne generator interface, and servo motor 1 receives servo
After the drive signal of motor driver transmission, servo motor 1 is rotated with drive rod 2, to make moving platform end movement to expectation
Pose.
In embodiments of the present invention, the plane parallel mechanism being installed on silent flatform is plane 3-RRR parallel institutions, quiet flat
Three servo motors, 1 mounting hole axle center on platform 8 constitutes an equilateral triangle, and the circumradius of the equilateral triangle is
400mm；Three spindle centrals of moving platform 5 constitute an equilateral triangle, and the circumradius of the equilateral triangle is
112mm；The theoretical length of follower lever 17 is 242mm, and the theoretical length of drive rod 2 is 245mm, and all components are aluminium alloy,
Surface anodization processing.
The model PP281R two dimension incremental encoders for the German Heidenhain company production that two-dimensional encoded device is selected, work temperature
For degree at 0 DEG C to 50 DEG C, measurement range is 68mm × 68mm, its movement velocity is not more than 72m/min when measurement, measurement accuracy is ±
2μm；What it was exported is the sinusoidal signal that peak value is 1v.
That servo motor 1 is selected is peace river servo motor SGM7A-15ADA61, and 24 encoders can provide sufficiently accurate
Position feedback, the nominal torque of 4.9N.m and the rated power of 1.5kw are enough to complete the driving of the high speed high acceleration moving of platform.
The model DMC-1886PCI bus motion control cards for GALIL companies of the U.S. production that motion control card is selected, the controller are adopted
Use 32 risc architecture high-speed dsps as central processing unit, realize the PTP positioning of 8 reference axis, position tracking, JOG, straight line/
Circular interpolation, spiral line interpolation etc.；The controller is due to using high speed RISC structure DSP as core processor, processing speed
It is greatly improved.Sampling rate is up to 24 μ s/ axis (quick mode), and order executes the period as every order of 40 μ s/, feedback speed
Rate 22MHz, stepping export pulse rate 6MHz；2000 row * of user program memory space, 80 characters can store 510 users and become
Amount and 16000 array elements；Highway width is for 32 and mutually compatible with 64, to meet high speed and super precision to the utmost
The new demand that close manufacture field proposes motion controller.
The above embodiment is an example of the present invention, is not intended to limit implementation and the interest field of invention, all
The equivalence changes and modification that the content described in patent protection range is made according to the present invention, should all be included in the present patent application
In the scope of the claims.
Claims (3)
1. a kind of plane parallel mechanism end tracking control system based on two-dimensional encoded device, it is characterised in that：Including being installed on
Plane parallel mechanism, two-dimensional encoded device measuring device, mechanism zero resetting device on silent flatform and control device；
The two-dimensional encoded device measuring device includes a reading heads (6) and b reading heads (16), two-dimensional grating of two-dimensional encoded device
Two-dimensional grating plate (15), connecting cable in board clamp (14)；Wherein, a reading heads (6) and b reading heads of two-dimensional encoded device
(16) it is fixed on the supporting rack (7) of plane parallel mechanism moving platform (5) reverse side connection, the two dimension of two-dimensional grating plate (15) is housed
Grating board clamp (14) is fixed on the silent flatform (8) below plane parallel mechanism moving platform (5)；A reading heads (6) and b readings
Plane where the measuring center of head (16) is parallel to silent flatform (8), and it is fixed that center is provided on plane parallel mechanism moving platform (5)
Position hole O '1(4) and location hole O '2(3), the measuring center and moving platform (5) center of a reading heads (6) and b reading heads (16) are fixed
Position hole O '1(4), the projection on silent flatform is conllinear and a reading heads (6) and b reading heads (16) being distributed in moving platform equidistantly
Heart both sides；
The mechanism zero resetting device, including be set on silent flatform (8) three optoelectronic switches (10), servo motor (1) drive
Three anti-dazzling screens (9) in lever (2) and laser tracker；
The control device, by control module for servo motor, triggering optoelectronic switch module, parallel institution positioning control module with
And parallel institution Trajectory Tracking Control module composition；
Whole system makes plane parallel mechanism end be located at zero by mechanism zero resetting device first, then passes through two-dimensional encoded device
The real-time pose for measuring plane parallel mechanism end, is then input to control device, and drive plane-parallel type by control device
Mechanism makes end by scheduled path implementation precision positioning.
2. a kind of plane parallel mechanism end tracking control system based on two-dimensional encoded device according to claim 1, special
Sign is：The plane parallel mechanism being installed on silent flatform is any one in plane parallel mechanism, is plane 3-RRR,
Or be plane 4-RRR, or be plane 3-PRR.
3. a kind of for a kind of plane parallel mechanism end tracking control system based on two-dimensional encoded device described in claim 1
Control method, the control method include the following steps：
One, plane parallel mechanism back to zero step
For plane parallel mechanism, the precision of initial pose directly affects the positioning accuracy of plane parallel mechanism；For reality
Now the precision of plane parallel mechanism is controlled, first has to allow the accurate back to zero position of plane parallel mechanism：
The first step：By a location holes (11), b location holes (12), the c location holes (13) on two-dimensional grating board clamp (14), establish
Coordinate system 1：With b location holes (12) for coordinate origin, the straight line where a location holes (11) and b location holes (12) is x-axis；It is quiet flat
There are a translation relations with coordinate system 1 for platform coordinate system, only need to can be obtained coordinate system 1 along y-axis translation certain distance, then
Set silent flatform coordinate system to work coordinate system；
Second step：Two location hole O ' on plane parallel mechanism moving platform are measured respectively1(4) with O '2(3) position, and measure
O′1(4) with O '2(3) coordinate is respectively (x '1,y′1) and (x '2,y′2)；This two coordinate is input to control device, passes through control
Device processed goes to adjustment moving platform end, then measures O ' again1(4) with O '2(3) coordinate；It adjusts repeatedly, until O '1
(4) coordinate is (0,0) and O '2(3) coordinate is (0, y3)；The numerical value of motor encoder is read by computer, is arranged three
The encoder count of servo motor is respectively a1,a2And a3；
Third walks：By the triggering optoelectronic switch module in control device, keep the anti-dazzling screen (9) on each drive rod (2) lucky
Corresponding optoelectronic switch (10) is triggered, the numerical value of motor encoder at this time is read by computer, three servo motors of setting
Encoder count is respectively a1′,a2' and a3′；
Through the above steps, motor encoder reading and motor encoder when triggering optoelectronic switch when plane parallel mechanism is in zero-bit
The difference of device reading is ai-ai', wherein i=1,2,3；Therefore the process of plane parallel mechanism back to zero position is：By in control device
Optoelectronic switch module is triggered, the anti-dazzling screen on each drive rod is made to trigger corresponding optoelectronic switch just；Then it is filled by controlling
Control module for servo motor driving motor in setting makes the encoder count of motor i increase ai-ai', plane parallel mechanism at this time
Just it is in zero-bit；
Two, plane parallel mechanism tracking measurement feedback control step
The first step：After plane parallel mechanism back to zero, the photoelectric encoder of two-dimensional encoded device and servo motor (1) is read equal
Zero setting；
Second step：The a reading heads (6) and b reading heads (16) of two-dimensional encoded device are sampled every the set time, coordinate signal warp
After crossing the subdivision interface subdivision of two-dimensional encoded device, then computer fed back to by the encoder feedback signaling interface of motion controller,
Computer runs corresponding data processing module, obtains moving platform end pose；Wherein data processing module is as follows：
If the data coordinates that a reading heads (6) of two-dimensional encoded device are fed back are (xr,yr), the b reading heads of two-dimensional encoded device
(16) data coordinates fed back are (xl,yl)；Due to ensure that the coordinate system and silent flatform of two-dimensional grating plate when installation
Coordinate system is identical, it is now assumed that the physical location O of moving platformreal, thenThe reality of moving platform end
Attitude angle θ is：
Third walks：Physical location and desired locations are made into difference and generate deviation signal, deviation signal is obtained by corresponding control algolithm
To control signal, control signal is transferred to servo-driver by amplidyne generator interface, and servo motor (1) receives servo drive
After the drive signal of dynamic device transmission, servo motor (1) band drive rod (2) rotates, to make moving platform end movement to desired position
Appearance.
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| CN106881710A (en) * | 2017-04-19 | 2017-06-23 | 中北大学 | It is a kind of to become the pickup robot for driving five bar parallel institutions of layout |
| CN109960284A (en) * | 2017-12-22 | 2019-07-02 | 广州中国科学院先进技术研究所 | A kind of high-accuracy parallel connection platform and its controller |
| CN108106547B (en) * | 2018-01-17 | 2023-09-19 | 华南理工大学 | Plane three-degree-of-freedom macro-micro composite positioning system and method based on laser sensor |
| CN108803493B (en) * | 2018-07-23 | 2020-05-08 | 上海恒润申启多媒体有限公司 | Bus type memoryless multi-axis linkage track system and change making device and method thereof |
| CN109240216B (en) * | 2018-08-27 | 2021-08-10 | 天津鼎成高新技术产业有限公司 | Dynamic process control method of parallel servo system and information data processing terminal |
| CN111220074B (en) * | 2019-12-30 | 2021-06-08 | 南京理工大学 | Laser three-dimensional measurement positioning system and target determination method |
| CN112310645B (en) * | 2020-11-06 | 2022-06-21 | 中国电子科技集团公司第五十四研究所 | Closed-loop control method for working space of 3RSR parallel mechanism antenna |
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| CN101844349A (en) * | 2010-05-17 | 2010-09-29 | 清华大学 | Redundant parallel robot system |
| CN204374672U (en) * | 2014-10-11 | 2015-06-03 | 华南理工大学 | The grand dynamic parallel positioning system of precision under a kind of micro-nano operating environment |
| CN104820439A (en) * | 2015-04-16 | 2015-08-05 | 华南理工大学 | Parallel connection platform tracking control device and method using visual equipment as sensor |
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